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1. 发明授权

US07821453B2 Distributed iterative multimodal sensor fusion method for improved collaborative localization and navigation 有权
标题翻译：分布式迭代多模态传感器融合方法，用于改进协同定位和导航
公开(公告)号：US07821453B2
公开(公告)日：2010-10-26
申请号：US12335574
申请日：2008-12-16
申请人： Shunguang Wu , Suin-Chuon Mau , James Kaba , Tao Zhao
发明人： Shunguang Wu , Suin-Chuon Mau , James Kaba , Tao Zhao
IPC分类号： G01S19/45 , H01Q3/00
CPC分类号： G01S5/0289 , G01S5/0278 , G01S5/0294 , G01S2013/466
摘要： A computer implemented method for fusing position and range measurements to determine the position of at least one node of a plurality of distributed nodes is disclosed. The method includes (a) measuring the position of at least one node; (b) computing an estimate of the position of the at least one node based on the measured position using a filter that takes account of past estimates of position; (c) receiving an estimate of position of at least a second node; (d) measuring inter-node range to the at least a second node; (e) combining the measured inter-node range with the estimate of position of at least a second node using a second filter that takes account of past estimates of position to generate a refined estimate of the position of the at least one node; and (f) when a change in the position of the at least one node is above a predetermined threshold value, setting the refined estimate of the position of the at least one node to the estimate of the position of the at least one node and repeating (c), (e), and (f).
摘要翻译：公开了一种用于对位置和距离测量进行融合以确定多个分布式节点中的至少一个节点的位置的计算机实现的方法。该方法包括（a）测量至少一个节点的位置; （b）使用考虑过去的位置估计的滤波器，基于所测量的位置来计算所述至少一个节点的位置的估计; （c）接收至少第二节点的位置的估计; （d）测量所述至少第二节点的节点间距离; （e）使用考虑过去的位置估计的第二滤波器将所测量的节点间范围与至少第二节点的位置估计相结合，以生成至少一个节点的位置的精确估计; 以及（f）当所述至少一个节点的位置的改变高于预定阈值时，将所述至少一个节点的位置的精细估计设置为所述至少一个节点的位置的估计并重复（c），（e）和（f）。

2. 发明申请

US20090212995A1 DISTRIBUTED ITERATIVE MULTIMODAL SENSOR FUSION METHOD FOR IMPROVED COLLABORATIVE LOCALIZATION AND NAVIGATION 有权
标题翻译：分布式迭代多模传感器融合方法，用于改进协作本地化和导航
公开(公告)号：US20090212995A1
公开(公告)日：2009-08-27
申请号：US12335574
申请日：2008-12-16
申请人： Shunguang Wu , Suin-Chuon Mau , James Kaba , Tao Zhao
发明人： Shunguang Wu , Suin-Chuon Mau , James Kaba , Tao Zhao
IPC分类号： G01S13/50
CPC分类号： G01S5/0289 , G01S5/0278 , G01S5/0294 , G01S2013/466
摘要： A computer implemented method for fusing position and range measurements to determine the position of at least one node of a plurality of distributed nodes is disclosed. The method includes (a) measuring the position of at least one node; (b) computing an estimate of the position of the at least one node based on the measured position using a filter that takes account of past estimates of position; (c) receiving an estimate of position of at least a second node; (d) measuring inter-node range to the at least a second node; (e) combining the measured inter-node range with the estimate of position of at least a second node using a second filter that takes account of past estimates of position to generate a refined estimate of the position of the at least one node; and (f) when a change in the position of the at least one node is above a predetermined threshold value, setting the refined estimate of the position of the at least one node to the estimate of the position of the at least one node and repeating (c), (e), and (f).
摘要翻译：公开了一种用于对位置和距离测量进行融合以确定多个分布式节点中的至少一个节点的位置的计算机实现的方法。该方法包括（a）测量至少一个节点的位置; （b）使用考虑过去的位置估计的滤波器，基于所测量的位置来计算所述至少一个节点的位置的估计; （c）接收至少第二节点的位置的估计; （d）测量所述至少第二节点的节点间距离; （e）使用考虑过去的位置估计的第二滤波器将所测量的节点间范围与至少第二节点的位置估计相结合，以生成至少一个节点的位置的精确估计; 以及（f）当所述至少一个节点的位置的改变高于预定阈值时，将所述至少一个节点的位置的精细估计设置为所述至少一个节点的位置的估计并重复（c），（e）和（f）。

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